bus,identity,bus
train,identity,train
motorcycle,identity,motorcycle
car,identity,car
truck,identity,truck
traffic light,identity,traffic light
bicycle,identity,bicycle
sky,identity,sky-other-merged
traffic sign,parent,stop sign
terrain,parent,grass-merged
terrain,parent,sand
terrain,parent,dirt-merged
vegetation,parent,tree-merged
vegetation,parent,flower
wall,parent,wall-stone
wall,parent,wall-wood
wall,parent,wall-other-merged
wall,parent,wall-brick
wall,parent,wall-tile
sidewalk,child,pavement-merged  # The COCO pavement-merged includes runways of airplanes. BDD are only street scenes and has no images of runways.
road,child,road  # The COCO road includes runways of airplanes.
fence,child,fence-merged  # The COCO fence-merged includes iron guard rails next to the highway. In BDD there are images with concrete guard rails which are marked as background. Hence the COCO fence-merged class includes the BDD fence class.
person,child,person
rider,child,person
building,has_part,roof
building,parent,building-other-merged
building,parent,house
